To run example execute:

[sc, t, x, u, z, bp] = runCrosswalkAndStopSignCEM('stopsigncrosswalk.csv', 2.5, 5, 3)

arguments:
'stopsigncrosswalk.csv' is name of scenario
2.5 is acceleration for initial knot placement
5.0 is desired velocity for 
3.0 is amount of time the vehicle must be stopped at stop signs.

outputs:
sc is the scene object
t is time vector
x is state trajectory
u is input trajectory
z is object for cem execution
bp is best parameters resulting from execution.